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<div class="title">crop_hull.hpp</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160; <span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment">  * Software License Agreement (BSD License)</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment">  *</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment">  *  Point Cloud Library (PCL) - www.pointclouds.org</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment">  *  Copyright (c) 2011, Willow Garage, Inc.</span></div>
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<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;<span class="preprocessor">#ifndef PCL_FILTERS_IMPL_CROP_HULL_H_</span></div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;<span class="preprocessor">#define PCL_FILTERS_IMPL_CROP_HULL_H_</span></div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160; </div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;<span class="preprocessor">#include &lt;pcl/filters/crop_hull.h&gt;</span></div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160; </div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;<span class="keyword">template</span>&lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00045"></a><span class="lineno"><a class="line" href="classpcl_1_1_crop_hull.html#ad7f780126b5234d570a3518c03505daf">   45</a></span>&#160;<a class="code" href="classpcl_1_1_crop_hull.html#ad7f780126b5234d570a3518c03505daf">pcl::CropHull&lt;PointT&gt;::applyFilter</a> (<a class="code" href="classpcl_1_1_point_cloud.html">PointCloud</a> &amp;output)</div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;{</div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;  <span class="keywordflow">if</span> (dim_ == 2)</div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;  {</div>
<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;    <span class="comment">// in this case we are assuming all the points lie in the same plane as the</span></div>
<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;    <span class="comment">// 2D convex hull, so the choice of projection just changes the</span></div>
<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;    <span class="comment">// conditioning of the problem: choose to squash the XYZ component of the</span></div>
<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;    <span class="comment">// hull-points that has least variation - this will also give reasonable</span></div>
<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;    <span class="comment">// results if the points don&#39;t lie exactly in the same plane</span></div>
<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;    <span class="keyword">const</span> Eigen::Vector3f range = getHullCloudRange ();</div>
<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;    <span class="keywordflow">if</span> (range[0] &lt;= range[1] &amp;&amp; range[0] &lt;= range[2])</div>
<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;      applyFilter2D&lt;1,2&gt; (output);</div>
<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;    <span class="keywordflow">else</span> <span class="keywordflow">if</span> (range[1] &lt;= range[2] &amp;&amp; range[1] &lt;= range[0])</div>
<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;      applyFilter2D&lt;2,0&gt; (output);</div>
<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;    <span class="keywordflow">else</span></div>
<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;      applyFilter2D&lt;0,1&gt; (output);</div>
<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;  }</div>
<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;  <span class="keywordflow">else</span></div>
<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;  {</div>
<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;    applyFilter3D (output);</div>
<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;  }</div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;}</div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160; </div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;<span class="keyword">template</span>&lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00070"></a><span class="lineno"><a class="line" href="classpcl_1_1_crop_hull.html#a2dbae13b6e8b81e4f902d3751fd46ee3">   70</a></span>&#160;<a class="code" href="classpcl_1_1_crop_hull.html#ad7f780126b5234d570a3518c03505daf">pcl::CropHull&lt;PointT&gt;::applyFilter</a> (std::vector&lt;int&gt; &amp;indices)</div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;{</div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;  <span class="keywordflow">if</span> (dim_ == 2)</div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;  {</div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;    <span class="comment">// in this case we are assuming all the points lie in the same plane as the</span></div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;    <span class="comment">// 2D convex hull, so the choice of projection just changes the</span></div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;    <span class="comment">// conditioning of the problem: choose to squash the XYZ component of the</span></div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;    <span class="comment">// hull-points that has least variation - this will also give reasonable</span></div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;    <span class="comment">// results if the points don&#39;t lie exactly in the same plane</span></div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;    <span class="keyword">const</span> Eigen::Vector3f range = getHullCloudRange ();</div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;    <span class="keywordflow">if</span> (range[0] &lt;= range[1] &amp;&amp; range[0] &lt;= range[2])</div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;      applyFilter2D&lt;1,2&gt; (indices);</div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;    <span class="keywordflow">else</span> <span class="keywordflow">if</span> (range[1] &lt;= range[2] &amp;&amp; range[1] &lt;= range[0])</div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;      applyFilter2D&lt;2,0&gt; (indices);</div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;    <span class="keywordflow">else</span></div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;      applyFilter2D&lt;0,1&gt; (indices);</div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;  }</div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;  <span class="keywordflow">else</span></div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;  {</div>
<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;    applyFilter3D (indices);</div>
<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;  }</div>
<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;}</div>
<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160; </div>
<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;<span class="keyword">template</span>&lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; Eigen::Vector3f</div>
<div class="line"><a name="l00095"></a><span class="lineno"><a class="line" href="classpcl_1_1_crop_hull.html#ab99d1e5a1adfa0531a9ae006b31a90e3">   95</a></span>&#160;<a class="code" href="classpcl_1_1_crop_hull.html#ab99d1e5a1adfa0531a9ae006b31a90e3">pcl::CropHull&lt;PointT&gt;::getHullCloudRange</a> ()</div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;{</div>
<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;  Eigen::Vector3f cloud_min (</div>
<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;    std::numeric_limits&lt;float&gt; ().max (),</div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;    std::numeric_limits&lt;float&gt; ().max (),</div>
<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;    std::numeric_limits&lt;float&gt; ().max ()</div>
<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;  );</div>
<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;  Eigen::Vector3f cloud_max (</div>
<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;    -std::numeric_limits&lt;float&gt; ().max (),</div>
<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;    -std::numeric_limits&lt;float&gt; ().max (),</div>
<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;    -std::numeric_limits&lt;float&gt; ().max ()</div>
<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;  );</div>
<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> index = 0; index &lt; indices_-&gt;size (); index++)</div>
<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;  {</div>
<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;    Eigen::Vector3f pt = input_-&gt;points[(*indices_)[index]].getVector3fMap ();</div>
<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i &lt; 3; i++)</div>
<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;    {</div>
<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;      <span class="keywordflow">if</span> (pt[i] &lt; cloud_min[i]) cloud_min[i] = pt[i];</div>
<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;      <span class="keywordflow">if</span> (pt[i] &gt; cloud_max[i]) cloud_max[i] = pt[i];</div>
<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;    }</div>
<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;  }</div>
<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;  </div>
<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;  <span class="keywordflow">return</span> (cloud_max - cloud_min);</div>
<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;}</div>
<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160; </div>
<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;<span class="keyword">template</span>&lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keyword">template</span>&lt;<span class="keywordtype">unsigned</span> PlaneDim1, <span class="keywordtype">unsigned</span> PlaneDim2&gt; <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00122"></a><span class="lineno"><a class="line" href="classpcl_1_1_crop_hull.html#aacadc8037882866f5bea37fe65c5ae7c">  122</a></span>&#160;<a class="code" href="classpcl_1_1_crop_hull.html#aacadc8037882866f5bea37fe65c5ae7c">pcl::CropHull&lt;PointT&gt;::applyFilter2D</a> (<a class="code" href="classpcl_1_1_point_cloud.html">PointCloud</a> &amp;output)</div>
<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;{</div>
<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> index = 0; index &lt; indices_-&gt;size (); index++)</div>
<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;  {</div>
<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;    <span class="comment">// iterate over polygons faster than points because we expect this data</span></div>
<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;    <span class="comment">// to be, in general, more cache-local - the point cloud might be huge</span></div>
<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;    <span class="keywordtype">size_t</span> poly;</div>
<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;    <span class="keywordflow">for</span> (poly = 0; poly &lt; hull_polygons_.size (); poly++)</div>
<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;    {</div>
<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;      <span class="keywordflow">if</span> (isPointIn2DPolyWithVertIndices&lt;PlaneDim1,PlaneDim2&gt; (</div>
<div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;              input_-&gt;points[(*indices_)[index]], hull_polygons_[poly], *hull_cloud_</div>
<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;         ))</div>
<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;      {</div>
<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;        <span class="keywordflow">if</span> (crop_outside_)</div>
<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;          output.<a class="code" href="classpcl_1_1_point_cloud.html#a0b4d7abee110e47d90635eb042488bb4">push_back</a> (input_-&gt;points[(*indices_)[index]]);</div>
<div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;        <span class="comment">// once a point has tested +ve for being inside one polygon, we can</span></div>
<div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;        <span class="comment">// stop checking the others:</span></div>
<div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;        <span class="keywordflow">break</span>;</div>
<div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;      }</div>
<div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;    }</div>
<div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;    <span class="comment">// If we&#39;re removing points *inside* the hull, only remove points that</span></div>
<div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;    <span class="comment">// haven&#39;t been found inside any polygons</span></div>
<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;    <span class="keywordflow">if</span> (poly == hull_polygons_.size () &amp;&amp; !crop_outside_)</div>
<div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;      output.<a class="code" href="classpcl_1_1_point_cloud.html#a0b4d7abee110e47d90635eb042488bb4">push_back</a> (input_-&gt;points[(*indices_)[index]]);</div>
<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;  }</div>
<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;}</div>
<div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160; </div>
<div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;<span class="keyword">template</span>&lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keyword">template</span>&lt;<span class="keywordtype">unsigned</span> PlaneDim1, <span class="keywordtype">unsigned</span> PlaneDim2&gt; <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00151"></a><span class="lineno"><a class="line" href="classpcl_1_1_crop_hull.html#adad085a9bed1e92b5ce8e8370fae86e3">  151</a></span>&#160;<a class="code" href="classpcl_1_1_crop_hull.html#aacadc8037882866f5bea37fe65c5ae7c">pcl::CropHull&lt;PointT&gt;::applyFilter2D</a> (std::vector&lt;int&gt; &amp;indices)</div>
<div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;{</div>
<div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;  <span class="comment">// see comments in (PointCloud&amp; output) overload</span></div>
<div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> index = 0; index &lt; indices_-&gt;size (); index++)</div>
<div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;  {</div>
<div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;    <span class="keywordtype">size_t</span> poly;</div>
<div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;    <span class="keywordflow">for</span> (poly = 0; poly &lt; hull_polygons_.size (); poly++)</div>
<div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160;    {</div>
<div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160;      <span class="keywordflow">if</span> (isPointIn2DPolyWithVertIndices&lt;PlaneDim1,PlaneDim2&gt; (</div>
<div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;              input_-&gt;points[(*indices_)[index]], hull_polygons_[poly], *hull_cloud_</div>
<div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160;         ))</div>
<div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;      {</div>
<div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;        <span class="keywordflow">if</span> (crop_outside_)      </div>
<div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160;          indices.push_back ((*indices_)[index]);</div>
<div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;        <span class="keywordflow">break</span>;</div>
<div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160;      }</div>
<div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;    }</div>
<div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160;    <span class="keywordflow">if</span> (poly == hull_polygons_.size () &amp;&amp; !crop_outside_)</div>
<div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160;      indices.push_back ((*indices_)[index]);</div>
<div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160;  }</div>
<div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160;}</div>
<div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160; </div>
<div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160;<span class="keyword">template</span>&lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00175"></a><span class="lineno"><a class="line" href="classpcl_1_1_crop_hull.html#a525892182b50e5a5e3f23c77306efd78">  175</a></span>&#160;<a class="code" href="classpcl_1_1_crop_hull.html#a525892182b50e5a5e3f23c77306efd78">pcl::CropHull&lt;PointT&gt;::applyFilter3D</a> (<a class="code" href="classpcl_1_1_point_cloud.html">PointCloud</a> &amp;output)</div>
<div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160;{</div>
<div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160;  <span class="comment">// This algorithm could definitely be sped up using kdtree/octree</span></div>
<div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160;  <span class="comment">// information, if that is available!</span></div>
<div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160; </div>
<div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> index = 0; index &lt; indices_-&gt;size (); index++)</div>
<div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160;  {</div>
<div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160;    <span class="comment">// test ray-crossings for three random rays, and take vote of crossings</span></div>
<div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160;    <span class="comment">// counts to determine if each point is inside the hull: the vote avoids</span></div>
<div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160;    <span class="comment">// tricky edge and corner cases when rays might fluke through the edge</span></div>
<div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160;    <span class="comment">// between two polygons</span></div>
<div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160;    <span class="comment">// &#39;random&#39; rays are arbitrary - basically anything that is less likely to</span></div>
<div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160;    <span class="comment">// hit the edge between polygons than coordinate-axis aligned rays would</span></div>
<div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160;    <span class="comment">// be.</span></div>
<div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160;    <span class="keywordtype">size_t</span> crossings[3] = {0,0,0};</div>
<div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160;    Eigen::Vector3f rays[3] = </div>
<div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160;    {</div>
<div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160;      Eigen::Vector3f (0.264882f,  0.688399f, 0.675237f),</div>
<div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160;      Eigen::Vector3f (0.0145419f, 0.732901f, 0.68018f),</div>
<div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160;      Eigen::Vector3f (0.856514f,  0.508771f, 0.0868081f)</div>
<div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160;    };</div>
<div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160; </div>
<div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> poly = 0; poly &lt; hull_polygons_.size (); poly++)</div>
<div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160;      <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> ray = 0; ray &lt; 3; ray++)</div>
<div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160;        crossings[ray] += rayTriangleIntersect</div>
<div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160;          (input_-&gt;points[(*indices_)[index]], rays[ray], hull_polygons_[poly], *hull_cloud_);</div>
<div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160; </div>
<div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160;    <span class="keywordflow">if</span> (crop_outside_ &amp;&amp; (crossings[0]&amp;1) + (crossings[1]&amp;1) + (crossings[2]&amp;1) &gt; 1)</div>
<div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160;      output.<a class="code" href="classpcl_1_1_point_cloud.html#a0b4d7abee110e47d90635eb042488bb4">push_back</a> (input_-&gt;points[(*indices_)[index]]);</div>
<div class="line"><a name="l00204"></a><span class="lineno">  204</span>&#160;    <span class="keywordflow">else</span> <span class="keywordflow">if</span> (!crop_outside_)</div>
<div class="line"><a name="l00205"></a><span class="lineno">  205</span>&#160;      output.<a class="code" href="classpcl_1_1_point_cloud.html#a0b4d7abee110e47d90635eb042488bb4">push_back</a> (input_-&gt;points[(*indices_)[index]]);</div>
<div class="line"><a name="l00206"></a><span class="lineno">  206</span>&#160;  }</div>
<div class="line"><a name="l00207"></a><span class="lineno">  207</span>&#160;}</div>
<div class="line"><a name="l00208"></a><span class="lineno">  208</span>&#160; </div>
<div class="line"><a name="l00210"></a><span class="lineno">  210</span>&#160;<span class="keyword">template</span>&lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00211"></a><span class="lineno"><a class="line" href="classpcl_1_1_crop_hull.html#afbc92b9b92f3ce59b80202bb38d1c438">  211</a></span>&#160;<a class="code" href="classpcl_1_1_crop_hull.html#a525892182b50e5a5e3f23c77306efd78">pcl::CropHull&lt;PointT&gt;::applyFilter3D</a> (std::vector&lt;int&gt; &amp;indices)</div>
<div class="line"><a name="l00212"></a><span class="lineno">  212</span>&#160;{</div>
<div class="line"><a name="l00213"></a><span class="lineno">  213</span>&#160;  <span class="comment">// see comments in applyFilter3D (PointCloud&amp; output)</span></div>
<div class="line"><a name="l00214"></a><span class="lineno">  214</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> index = 0; index &lt; indices_-&gt;size (); index++)</div>
<div class="line"><a name="l00215"></a><span class="lineno">  215</span>&#160;  {</div>
<div class="line"><a name="l00216"></a><span class="lineno">  216</span>&#160;    <span class="keywordtype">size_t</span> crossings[3] = {0,0,0};</div>
<div class="line"><a name="l00217"></a><span class="lineno">  217</span>&#160;    Eigen::Vector3f rays[3] = </div>
<div class="line"><a name="l00218"></a><span class="lineno">  218</span>&#160;    {</div>
<div class="line"><a name="l00219"></a><span class="lineno">  219</span>&#160;      Eigen::Vector3f(0.264882f,  0.688399f, 0.675237f),</div>
<div class="line"><a name="l00220"></a><span class="lineno">  220</span>&#160;      Eigen::Vector3f(0.0145419f, 0.732901f, 0.68018f),</div>
<div class="line"><a name="l00221"></a><span class="lineno">  221</span>&#160;      Eigen::Vector3f(0.856514f,  0.508771f, 0.0868081f)</div>
<div class="line"><a name="l00222"></a><span class="lineno">  222</span>&#160;    };</div>
<div class="line"><a name="l00223"></a><span class="lineno">  223</span>&#160; </div>
<div class="line"><a name="l00224"></a><span class="lineno">  224</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> poly = 0; poly &lt; hull_polygons_.size (); poly++)</div>
<div class="line"><a name="l00225"></a><span class="lineno">  225</span>&#160;      <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> ray = 0; ray &lt; 3; ray++)</div>
<div class="line"><a name="l00226"></a><span class="lineno">  226</span>&#160;        crossings[ray] += rayTriangleIntersect</div>
<div class="line"><a name="l00227"></a><span class="lineno">  227</span>&#160;          (input_-&gt;points[(*indices_)[index]], rays[ray], hull_polygons_[poly], *hull_cloud_);</div>
<div class="line"><a name="l00228"></a><span class="lineno">  228</span>&#160; </div>
<div class="line"><a name="l00229"></a><span class="lineno">  229</span>&#160;    <span class="keywordflow">if</span> (crop_outside_ &amp;&amp; (crossings[0]&amp;1) + (crossings[1]&amp;1) + (crossings[2]&amp;1) &gt; 1)</div>
<div class="line"><a name="l00230"></a><span class="lineno">  230</span>&#160;      indices.push_back ((*indices_)[index]);</div>
<div class="line"><a name="l00231"></a><span class="lineno">  231</span>&#160;    <span class="keywordflow">else</span> <span class="keywordflow">if</span> (!crop_outside_)</div>
<div class="line"><a name="l00232"></a><span class="lineno">  232</span>&#160;      indices.push_back ((*indices_)[index]);</div>
<div class="line"><a name="l00233"></a><span class="lineno">  233</span>&#160;  }</div>
<div class="line"><a name="l00234"></a><span class="lineno">  234</span>&#160;}</div>
<div class="line"><a name="l00235"></a><span class="lineno">  235</span>&#160; </div>
<div class="line"><a name="l00237"></a><span class="lineno">  237</span>&#160;<span class="keyword">template</span>&lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keyword">template</span>&lt;<span class="keywordtype">unsigned</span> PlaneDim1, <span class="keywordtype">unsigned</span> PlaneDim2&gt; <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00238"></a><span class="lineno"><a class="line" href="classpcl_1_1_crop_hull.html#a3769f23d102d738d3da4716d0c112613">  238</a></span>&#160;<a class="code" href="classpcl_1_1_crop_hull.html#a3769f23d102d738d3da4716d0c112613">pcl::CropHull&lt;PointT&gt;::isPointIn2DPolyWithVertIndices</a> (</div>
<div class="line"><a name="l00239"></a><span class="lineno">  239</span>&#160;  <span class="keyword">const</span> <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>&amp; point, <span class="keyword">const</span> <a class="code" href="structpcl_1_1_vertices.html">Vertices</a>&amp; verts, <span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">PointCloud</a>&amp; cloud)</div>
<div class="line"><a name="l00240"></a><span class="lineno">  240</span>&#160;{</div>
<div class="line"><a name="l00241"></a><span class="lineno">  241</span>&#160;  <span class="keywordtype">bool</span> in_poly = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00242"></a><span class="lineno">  242</span>&#160;  <span class="keywordtype">double</span> x1, x2, y1, y2;</div>
<div class="line"><a name="l00243"></a><span class="lineno">  243</span>&#160; </div>
<div class="line"><a name="l00244"></a><span class="lineno">  244</span>&#160;  <span class="keyword">const</span> <span class="keywordtype">int</span> nr_poly_points = <span class="keyword">static_cast&lt;</span><span class="keyword">const </span><span class="keywordtype">int</span><span class="keyword">&gt;</span>(verts.vertices.size ());</div>
<div class="line"><a name="l00245"></a><span class="lineno">  245</span>&#160;  <span class="keywordtype">double</span> xold = cloud[verts.vertices[nr_poly_points - 1]].getVector3fMap ()[PlaneDim1];</div>
<div class="line"><a name="l00246"></a><span class="lineno">  246</span>&#160;  <span class="keywordtype">double</span> yold = cloud[verts.vertices[nr_poly_points - 1]].getVector3fMap ()[PlaneDim2];</div>
<div class="line"><a name="l00247"></a><span class="lineno">  247</span>&#160;  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i &lt; nr_poly_points; i++)</div>
<div class="line"><a name="l00248"></a><span class="lineno">  248</span>&#160;  {</div>
<div class="line"><a name="l00249"></a><span class="lineno">  249</span>&#160;    <span class="keyword">const</span> <span class="keywordtype">double</span> xnew = cloud[verts.vertices[i]].getVector3fMap ()[PlaneDim1];</div>
<div class="line"><a name="l00250"></a><span class="lineno">  250</span>&#160;    <span class="keyword">const</span> <span class="keywordtype">double</span> ynew = cloud[verts.vertices[i]].getVector3fMap ()[PlaneDim2];</div>
<div class="line"><a name="l00251"></a><span class="lineno">  251</span>&#160;    <span class="keywordflow">if</span> (xnew &gt; xold)</div>
<div class="line"><a name="l00252"></a><span class="lineno">  252</span>&#160;    {</div>
<div class="line"><a name="l00253"></a><span class="lineno">  253</span>&#160;      x1 = xold;</div>
<div class="line"><a name="l00254"></a><span class="lineno">  254</span>&#160;      x2 = xnew;</div>
<div class="line"><a name="l00255"></a><span class="lineno">  255</span>&#160;      y1 = yold;</div>
<div class="line"><a name="l00256"></a><span class="lineno">  256</span>&#160;      y2 = ynew;</div>
<div class="line"><a name="l00257"></a><span class="lineno">  257</span>&#160;    }</div>
<div class="line"><a name="l00258"></a><span class="lineno">  258</span>&#160;    <span class="keywordflow">else</span></div>
<div class="line"><a name="l00259"></a><span class="lineno">  259</span>&#160;    {</div>
<div class="line"><a name="l00260"></a><span class="lineno">  260</span>&#160;      x1 = xnew;</div>
<div class="line"><a name="l00261"></a><span class="lineno">  261</span>&#160;      x2 = xold;</div>
<div class="line"><a name="l00262"></a><span class="lineno">  262</span>&#160;      y1 = ynew;</div>
<div class="line"><a name="l00263"></a><span class="lineno">  263</span>&#160;      y2 = yold;</div>
<div class="line"><a name="l00264"></a><span class="lineno">  264</span>&#160;    }</div>
<div class="line"><a name="l00265"></a><span class="lineno">  265</span>&#160; </div>
<div class="line"><a name="l00266"></a><span class="lineno">  266</span>&#160;    <span class="keywordflow">if</span> ((xnew &lt; point.getVector3fMap ()[PlaneDim1]) == (point.getVector3fMap ()[PlaneDim1] &lt;= xold) &amp;&amp;</div>
<div class="line"><a name="l00267"></a><span class="lineno">  267</span>&#160;        (point.getVector3fMap ()[PlaneDim2] - y1) * (x2 - x1) &lt; (y2 - y1) * (point.getVector3fMap ()[PlaneDim1] - x1))</div>
<div class="line"><a name="l00268"></a><span class="lineno">  268</span>&#160;    {</div>
<div class="line"><a name="l00269"></a><span class="lineno">  269</span>&#160;      in_poly = !in_poly;</div>
<div class="line"><a name="l00270"></a><span class="lineno">  270</span>&#160;    }</div>
<div class="line"><a name="l00271"></a><span class="lineno">  271</span>&#160;    xold = xnew;</div>
<div class="line"><a name="l00272"></a><span class="lineno">  272</span>&#160;    yold = ynew;</div>
<div class="line"><a name="l00273"></a><span class="lineno">  273</span>&#160;  }</div>
<div class="line"><a name="l00274"></a><span class="lineno">  274</span>&#160; </div>
<div class="line"><a name="l00275"></a><span class="lineno">  275</span>&#160;  <span class="keywordflow">return</span> (in_poly);</div>
<div class="line"><a name="l00276"></a><span class="lineno">  276</span>&#160;}</div>
<div class="line"><a name="l00277"></a><span class="lineno">  277</span>&#160; </div>
<div class="line"><a name="l00279"></a><span class="lineno">  279</span>&#160;<span class="keyword">template</span>&lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00280"></a><span class="lineno"><a class="line" href="classpcl_1_1_crop_hull.html#a6ea5ecd6192de48ed9441debee1496a0">  280</a></span>&#160;<a class="code" href="classpcl_1_1_crop_hull.html#a6ea5ecd6192de48ed9441debee1496a0">pcl::CropHull&lt;PointT&gt;::rayTriangleIntersect</a> (<span class="keyword">const</span> <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>&amp; point,</div>
<div class="line"><a name="l00281"></a><span class="lineno">  281</span>&#160;                                             <span class="keyword">const</span> Eigen::Vector3f&amp; ray,</div>
<div class="line"><a name="l00282"></a><span class="lineno">  282</span>&#160;                                             <span class="keyword">const</span> <a class="code" href="structpcl_1_1_vertices.html">Vertices</a>&amp; verts,</div>
<div class="line"><a name="l00283"></a><span class="lineno">  283</span>&#160;                                             <span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">PointCloud</a>&amp; cloud)</div>
<div class="line"><a name="l00284"></a><span class="lineno">  284</span>&#160;{</div>
<div class="line"><a name="l00285"></a><span class="lineno">  285</span>&#160;  <span class="comment">// Algorithm here is adapted from:</span></div>
<div class="line"><a name="l00286"></a><span class="lineno">  286</span>&#160;  <span class="comment">// http://softsurfer.com/Archive/algorithm_0105/algorithm_0105.htm#intersect_RayTriangle()</span></div>
<div class="line"><a name="l00287"></a><span class="lineno">  287</span>&#160;  <span class="comment">//</span></div>
<div class="line"><a name="l00288"></a><span class="lineno">  288</span>&#160;  <span class="comment">// Original copyright notice:</span></div>
<div class="line"><a name="l00289"></a><span class="lineno">  289</span>&#160;  <span class="comment">// Copyright 2001, softSurfer (www.softsurfer.com)</span></div>
<div class="line"><a name="l00290"></a><span class="lineno">  290</span>&#160;  <span class="comment">// This code may be freely used and modified for any purpose</span></div>
<div class="line"><a name="l00291"></a><span class="lineno">  291</span>&#160;  <span class="comment">// providing that this copyright notice is included with it.</span></div>
<div class="line"><a name="l00292"></a><span class="lineno">  292</span>&#160;  <span class="comment">//</span></div>
<div class="line"><a name="l00293"></a><span class="lineno">  293</span>&#160;  assert (verts.vertices.size () == 3);</div>
<div class="line"><a name="l00294"></a><span class="lineno">  294</span>&#160; </div>
<div class="line"><a name="l00295"></a><span class="lineno">  295</span>&#160;  <span class="keyword">const</span> Eigen::Vector3f p = point.getVector3fMap ();</div>
<div class="line"><a name="l00296"></a><span class="lineno">  296</span>&#160;  <span class="keyword">const</span> Eigen::Vector3f a = cloud[verts.vertices[0]].getVector3fMap ();</div>
<div class="line"><a name="l00297"></a><span class="lineno">  297</span>&#160;  <span class="keyword">const</span> Eigen::Vector3f b = cloud[verts.vertices[1]].getVector3fMap ();</div>
<div class="line"><a name="l00298"></a><span class="lineno">  298</span>&#160;  <span class="keyword">const</span> Eigen::Vector3f c = cloud[verts.vertices[2]].getVector3fMap ();</div>
<div class="line"><a name="l00299"></a><span class="lineno">  299</span>&#160;  <span class="keyword">const</span> Eigen::Vector3f u = b - a;</div>
<div class="line"><a name="l00300"></a><span class="lineno">  300</span>&#160;  <span class="keyword">const</span> Eigen::Vector3f v = c - a;</div>
<div class="line"><a name="l00301"></a><span class="lineno">  301</span>&#160;  <span class="keyword">const</span> Eigen::Vector3f n = u.cross (v);</div>
<div class="line"><a name="l00302"></a><span class="lineno">  302</span>&#160;  <span class="keyword">const</span> <span class="keywordtype">float</span> n_dot_ray = n.dot (ray);</div>
<div class="line"><a name="l00303"></a><span class="lineno">  303</span>&#160; </div>
<div class="line"><a name="l00304"></a><span class="lineno">  304</span>&#160;  <span class="keywordflow">if</span> (std::fabs (n_dot_ray) &lt; 1e-9)</div>
<div class="line"><a name="l00305"></a><span class="lineno">  305</span>&#160;    <span class="keywordflow">return</span> (<span class="keyword">false</span>);</div>
<div class="line"><a name="l00306"></a><span class="lineno">  306</span>&#160; </div>
<div class="line"><a name="l00307"></a><span class="lineno">  307</span>&#160;  <span class="keyword">const</span> <span class="keywordtype">float</span> r = n.dot (a - p) / n_dot_ray;</div>
<div class="line"><a name="l00308"></a><span class="lineno">  308</span>&#160; </div>
<div class="line"><a name="l00309"></a><span class="lineno">  309</span>&#160;  <span class="keywordflow">if</span> (r &lt; 0)</div>
<div class="line"><a name="l00310"></a><span class="lineno">  310</span>&#160;    <span class="keywordflow">return</span> (<span class="keyword">false</span>);</div>
<div class="line"><a name="l00311"></a><span class="lineno">  311</span>&#160; </div>
<div class="line"><a name="l00312"></a><span class="lineno">  312</span>&#160;  <span class="keyword">const</span> Eigen::Vector3f w = p + r * ray - a;</div>
<div class="line"><a name="l00313"></a><span class="lineno">  313</span>&#160;  <span class="keyword">const</span> <span class="keywordtype">float</span> denominator = u.dot (v) * u.dot (v) - u.dot (u) * v.dot (v);</div>
<div class="line"><a name="l00314"></a><span class="lineno">  314</span>&#160;  <span class="keyword">const</span> <span class="keywordtype">float</span> s_numerator = u.dot (v) * w.dot (v) - v.dot (v) * w.dot (u);</div>
<div class="line"><a name="l00315"></a><span class="lineno">  315</span>&#160;  <span class="keyword">const</span> <span class="keywordtype">float</span> s = s_numerator / denominator;</div>
<div class="line"><a name="l00316"></a><span class="lineno">  316</span>&#160;  <span class="keywordflow">if</span> (s &lt; 0 || s &gt; 1)</div>
<div class="line"><a name="l00317"></a><span class="lineno">  317</span>&#160;    <span class="keywordflow">return</span> (<span class="keyword">false</span>);</div>
<div class="line"><a name="l00318"></a><span class="lineno">  318</span>&#160; </div>
<div class="line"><a name="l00319"></a><span class="lineno">  319</span>&#160;  <span class="keyword">const</span> <span class="keywordtype">float</span> t_numerator = u.dot (v) * w.dot (u) - u.dot (u) * w.dot (v);</div>
<div class="line"><a name="l00320"></a><span class="lineno">  320</span>&#160;  <span class="keyword">const</span> <span class="keywordtype">float</span> t = t_numerator / denominator;</div>
<div class="line"><a name="l00321"></a><span class="lineno">  321</span>&#160;  <span class="keywordflow">if</span> (t &lt; 0 || s+t &gt; 1)</div>
<div class="line"><a name="l00322"></a><span class="lineno">  322</span>&#160;    <span class="keywordflow">return</span> (<span class="keyword">false</span>);</div>
<div class="line"><a name="l00323"></a><span class="lineno">  323</span>&#160;  </div>
<div class="line"><a name="l00324"></a><span class="lineno">  324</span>&#160;  <span class="keywordflow">return</span> (<span class="keyword">true</span>);</div>
<div class="line"><a name="l00325"></a><span class="lineno">  325</span>&#160;}</div>
<div class="line"><a name="l00326"></a><span class="lineno">  326</span>&#160; </div>
<div class="line"><a name="l00327"></a><span class="lineno">  327</span>&#160;<span class="preprocessor">#define PCL_INSTANTIATE_CropHull(T) template class PCL_EXPORTS pcl::CropHull&lt;T&gt;;</span></div>
<div class="line"><a name="l00328"></a><span class="lineno">  328</span>&#160; </div>
<div class="line"><a name="l00329"></a><span class="lineno">  329</span>&#160;<span class="preprocessor">#endif </span><span class="comment">// PCL_FILTERS_IMPL_CROP_HULL_H_</span></div>
<div class="ttc" id="aclasspcl_1_1_crop_hull_html_a3769f23d102d738d3da4716d0c112613"><div class="ttname"><a href="classpcl_1_1_crop_hull.html#a3769f23d102d738d3da4716d0c112613">pcl::CropHull::isPointIn2DPolyWithVertIndices</a></div><div class="ttdeci">static bool isPointIn2DPolyWithVertIndices(const PointT &amp;point, const Vertices &amp;verts, const PointCloud &amp;cloud)</div><div class="ttdoc">Test an individual point against a 2D polygon. PlaneDim1 and PlaneDim2 specify the x/y/z coordinate a...</div><div class="ttdef"><b>Definition:</b> crop_hull.hpp:238</div></div>
<div class="ttc" id="aclasspcl_1_1_crop_hull_html_a525892182b50e5a5e3f23c77306efd78"><div class="ttname"><a href="classpcl_1_1_crop_hull.html#a525892182b50e5a5e3f23c77306efd78">pcl::CropHull::applyFilter3D</a></div><div class="ttdeci">void applyFilter3D(PointCloud &amp;output)</div><div class="ttdoc">Apply the three-dimensional hull filter. Polygon-ray crossings are used for three rays cast from each...</div><div class="ttdef"><b>Definition:</b> crop_hull.hpp:175</div></div>
<div class="ttc" id="aclasspcl_1_1_crop_hull_html_a6ea5ecd6192de48ed9441debee1496a0"><div class="ttname"><a href="classpcl_1_1_crop_hull.html#a6ea5ecd6192de48ed9441debee1496a0">pcl::CropHull::rayTriangleIntersect</a></div><div class="ttdeci">static bool rayTriangleIntersect(const PointT &amp;point, const Eigen::Vector3f &amp;ray, const Vertices &amp;verts, const PointCloud &amp;cloud)</div><div class="ttdoc">Does a ray cast from a point intersect with an arbitrary triangle in 3D? See: http://softsurfer....</div><div class="ttdef"><b>Definition:</b> crop_hull.hpp:280</div></div>
<div class="ttc" id="aclasspcl_1_1_crop_hull_html_aacadc8037882866f5bea37fe65c5ae7c"><div class="ttname"><a href="classpcl_1_1_crop_hull.html#aacadc8037882866f5bea37fe65c5ae7c">pcl::CropHull::applyFilter2D</a></div><div class="ttdeci">void applyFilter2D(PointCloud &amp;output)</div><div class="ttdoc">Apply the two-dimensional hull filter. All points are assumed to lie in the same plane as the 2D hull...</div><div class="ttdef"><b>Definition:</b> crop_hull.hpp:122</div></div>
<div class="ttc" id="aclasspcl_1_1_crop_hull_html_ab99d1e5a1adfa0531a9ae006b31a90e3"><div class="ttname"><a href="classpcl_1_1_crop_hull.html#ab99d1e5a1adfa0531a9ae006b31a90e3">pcl::CropHull::getHullCloudRange</a></div><div class="ttdeci">Eigen::Vector3f getHullCloudRange()</div><div class="ttdoc">Return the size of the hull point cloud in line with coordinate axes. This is used to choose the 2D p...</div><div class="ttdef"><b>Definition:</b> crop_hull.hpp:95</div></div>
<div class="ttc" id="aclasspcl_1_1_crop_hull_html_ad7f780126b5234d570a3518c03505daf"><div class="ttname"><a href="classpcl_1_1_crop_hull.html#ad7f780126b5234d570a3518c03505daf">pcl::CropHull::applyFilter</a></div><div class="ttdeci">void applyFilter(PointCloud &amp;output)</div><div class="ttdoc">Filter the input points using the 2D or 3D polygon hull.</div><div class="ttdef"><b>Definition:</b> crop_hull.hpp:45</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html"><div class="ttname"><a href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a></div><div class="ttdoc">PointCloud represents the base class in PCL for storing collections of 3D points.</div><div class="ttdef"><b>Definition:</b> point_cloud.h:173</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_a0b4d7abee110e47d90635eb042488bb4"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#a0b4d7abee110e47d90635eb042488bb4">pcl::PointCloud::push_back</a></div><div class="ttdeci">void push_back(const PointT &amp;pt)</div><div class="ttdoc">Insert a new point in the cloud, at the end of the container.</div><div class="ttdef"><b>Definition:</b> point_cloud.h:480</div></div>
<div class="ttc" id="astructpcl_1_1_point_x_y_z_r_g_b_a_html"><div class="ttname"><a href="structpcl_1_1_point_x_y_z_r_g_b_a.html">pcl::PointXYZRGBA</a></div><div class="ttdoc">A point structure representing Euclidean xyz coordinates, and the RGBA color.</div><div class="ttdef"><b>Definition:</b> point_types.hpp:540</div></div>
<div class="ttc" id="astructpcl_1_1_vertices_html"><div class="ttname"><a href="structpcl_1_1_vertices.html">pcl::Vertices</a></div><div class="ttdoc">Describes a set of vertices in a polygon mesh, by basically storing an array of indices.</div><div class="ttdef"><b>Definition:</b> Vertices.h:15</div></div>
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